/*
 * PID.h
 *
 *  Created on: 10-12-2012
 *      Author: Maciej
 */

#ifndef PID_H_
#define PID_H_

struct sPIDD
{
	float P;
	float I;
	float D;

	float last_error;

	float set;

	float integral;
	float derriv;

	float dT;
};

typedef struct sPIDD sPID;

void  PID_Initialize(sPID* , float , float , float , float );

float PID_Process(sPID* , float);

void  PID_Reset(sPID* );


void PID_Print(sPID* );

#endif /* PID_H_ */
